/*
 www.pipoisu.com
 Copyright (c) 2011.  All rights reserved.

 File     : mixer.h
 Author(s): Erez Raviv

 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program. If not, see <http://www.gnu.org/licenses/>.
*/


#ifndef MIXER_H
#define MIXER_H

#include "pipo.h"

// all these are shift operands - prescalers.
//#define KP_MULT 6  // 3 = 2^3 = 8
//#define KI_MULT 0  // 0 = 2^0 = 1
//#define KD_MULT 7  // 6 = 2^6 = 64
//#define KPID_DEVISOR 20  //SHIFT devisor -> 18 = 2^(8+10) = RESX*256


//#define KC_MULT 1  // 3 = 2^3 = 8
//#define KS_DEVISOR   10  //SHIFT devisor -> 14 = 2^(10+4) = RESX*4*4
//#define KS_MAX       8000  // can be any value up to 2^31


#define MOTOR_IDLE (-900) // PWM command value for motor idle


void mixer();

#endif // MIXER_H
